CN105181329B - A kind of industrial robot joint decelerator comprehensive test platform - Google Patents

A kind of industrial robot joint decelerator comprehensive test platform Download PDF

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Publication number
CN105181329B
CN105181329B CN201510657310.5A CN201510657310A CN105181329B CN 105181329 B CN105181329 B CN 105181329B CN 201510657310 A CN201510657310 A CN 201510657310A CN 105181329 B CN105181329 B CN 105181329B
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magnetic powder
speed reducer
torque sensor
fixed
tested
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CN105181329A (en
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杨玉孝
李兵
杜俊伟
兰梦辉
丁彦芬
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Xi an Jiaotong University
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Xi an Jiaotong University
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Abstract

A kind of industrial robot joint decelerator comprehensive test platform, including lathe bed, lathe bed right side is equipped with line slideway, the magnetic powder brake of termination connection is connected by shaft coupling and the first torque sensor on the left of lathe bed, first torque sensor is connected by shaft coupling with first angle encoder, first angle encoder is connected by end-toothed disc with the output panel of the tested joint speed reducer in special fixture, special fixture is fixed on a mobile platform, and mobile platform is arranged on line slideway by sliding block;Second angle encoder is arranged on the input shaft of tested joint speed reducer, tested joint speed reducer input shaft is connected by shaft coupling and the second torque sensor, second torque sensor passes through shaft coupling and magnetic powder cluth output connection, magnetic powder cluth is fixed on a mobile platform, magnetic powder cluth is connected by shaft coupling with fixed spindle motor on a mobile platform, the present invention can realize that multiple parameters are tested, and greatly improve testing efficiency.

Description

A kind of industrial robot joint decelerator comprehensive test platform
Technical field
The invention belongs to Industrial Robot Technology field, and in particular to a kind of industrial robot joint decelerator integration test Platform.
Background technology
Important carrier of the industrial robot as automation, has become and weighs a national manufacture level and scientific and technological level Important symbol.Joint speed reducer is the core component of industrial robot, and its cost accounts for whole industrial robot cost 30% or so.Industrial robot joint retarder request gearratio is big, rigidity is big, kinematic accuracy is high, transmission efficiency, return difference It is small, carrying is steady etc..Its main performance index is:Transmission accuracy, transmission efficiency, torsional rigid, return difference, twisting vibration amplitude And temperature rise etc..Their mechanical arm position control accuracies to industrial robot, the stability of operation, ability to work and correct And smoothly profile control etc. has decisive role.
In traditional method of testing, for transmission accuracy, transmission efficiency, torsional rigid, return difference, twisting vibration amplitude and The test of the industrial robot joint decelerator main performance index such as temperature rise needs to use more special test equipments to be surveyed Examination is wasted time and energy, it is necessary to install, adjust repeatedly on multiple devices, and testing efficiency is low, can not meet the production requirement of full inspection, And installation accuracy poor repeatability, cause test result fluctuation greatly, precision is low.
The content of the invention
The shortcomings that in order to overcome above-mentioned prior art, it is an object of the invention to provide a kind of deceleration of industrial robot joint Device comprehensive test platform, it can realize that multiple parameters are tested on a comprehensive test platform, greatly improve testing efficiency.
In order to achieve the above object, the technical scheme taken of the present invention is:
A kind of industrial robot joint decelerator comprehensive test platform, including lathe bed 1, lathe bed 1 are placed on cushion block 3, Right side is equipped with line slideway 13 on lathe bed 1, and the end of line slideway 13 is connected with stroke dog 14, the upper left side termination of lathe bed 1 Connected by magnetic powder brake support 2 and magnetic powder brake 15, the input of magnetic powder brake 15 passes through first shaft coupling 16 and first The output connection of torque sensor 17, the first torque sensor 17 are fixed on lathe bed 1 by the first torque sensor support 4, the The input of one torque sensor 17 passes through second shaft coupling 18 and the output connection of first angle encoder 19, first angle encoder 19 It is fixed on by angular encoder support 5 on lathe bed 1, the input of first angle encoder 19 is by end-toothed disc 20 and installed in special The output panel connection of tested joint speed reducer in fixture 21, special fixture 21 is fixed on the left end of mobile platform 10, mobile flat Platform 10 is arranged on line slideway 13 by sliding block 6, and mobile platform 10 is stepped up by the first cylinder 9;Second angle encoder 22 On the input shaft of tested joint speed reducer, second angle encoder 22 is fixed on special fixture 21, and tested joint subtracts Fast device input shaft passes through second by the 3rd shaft coupling 23 and the output connection of the second torque sensor 24, the second torque sensor 24 Torque sensor support 8 is fixed on a mobile platform 10, and the input of the second torque sensor 24 passes through the 4th shaft coupling 25 and magnetic The output connection of clutch 26, magnetic powder cluth 26 is fixed on a mobile platform 10 by magnetic powder cluth support 11, magnetic powder clutched The input of device 26 is fixed by the 5th shaft coupling 27 and the output connection of spindle motor 28, spindle motor 28 by spindle motor support 12 On a mobile platform 10.
Described special fixture 21 is assembled by auxiliary clamping device 31 and clamp body 34, described auxiliary clamping device 31 entirety are in male-tapered, and auxiliary clamping device 31 is provided with suspension ring 30, and auxiliary clamping device 31 is provided with guide pad 32, are tested joint Decelerator is installed into inside auxiliary clamping device 31, and it is defeated that the output panel 29 of tested joint speed reducer is fixed on tested joint speed reducer Go out end;Described clamp body 34 has an inner conical cavity 37, and input shaft is provided with the bearing hole of the bottom of inner conical cavity 37 Spring bearing 36, it is tested joint speed reducer input shaft 35 and is arranged in input shaft spring bearing 36, the both sides of clamp body 34 is equipped with the Two cylinders 38, the male-tapered of auxiliary clamping device 31 are engaged with the inner conical of clamp body 34.
Beneficial effects of the present invention:
Compared with conventional test device, the comprehensive test platform that the present invention designs has advantage following prominent:This synthesis is surveyed Examination platform can realize transmission accuracy, transmission efficiency, torsional rigid, return difference, twisting vibration amplitude and the test of temperature rise, this Need to be completed with multiple devices on conventional test device;Using high-power servomotor, big nominal torque magnetic powder brake, avoid Speedup and amplifying moment link introduce extra decelerator, shadow caused by reduce additional mechanism providing additional operation as far as possible in test process Ring;Installed using auxiliary clamping device and special fixture, installation accuracy, installation effectiveness are high, greatly improve joint speed reducer Testing efficiency.
Brief description of the drawings
Fig. 1 is the industrial robot joint decelerator comprehensive test platform front view of the present invention.
Fig. 2 is the structural representation of the auxiliary clamping device of special fixture 21.
Fig. 3 is the structural representation of the clamp body of special fixture 21.
Embodiment
The present invention is described in detail below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of industrial robot joint decelerator comprehensive test platform, including lathe bed 1, lathe bed 1 are placed in On cushion block 3, right side is equipped with line slideway 13 on lathe bed 1, and the end of line slideway 13 is connected with stroke dog 14, lathe bed 1 Upper left side termination is connected by magnetic powder brake support 2 and magnetic powder brake 15, and the input of magnetic powder brake 15 passes through the first shaft coupling The output connection of the torque sensor 17 of device 16 and first, the first torque sensor 17 are fixed on by the first torque sensor support 4 On lathe bed 1, the input of the first torque sensor 17 is connected by second shaft coupling 18 and the output of first angle encoder 19, first jiao Degree encoder 19 is fixed on lathe bed 1 by angular encoder support 5, and the input of first angle encoder 19 passes through the He of end-toothed disc 20 The output panel connection of tested joint speed reducer in special fixture 21, special fixture 21 are fixed on a left side for mobile platform 10 End, mobile platform 10 are arranged on line slideway 13 by sliding block 6, and mobile platform 10 is stepped up by the first cylinder 9;Second angle Encoder 22 is arranged on the input shaft of tested joint speed reducer, and second angle encoder 22 is simultaneously fixed by screws in exclusive clamps On tool 21, it is tested joint speed reducer input shaft and is connected by the 3rd shaft coupling 23 and the output of the second torque sensor 24, second turn Square sensor 24 is fixed on a mobile platform 10 by the second torque sensor support 8, and the input of the second torque sensor 24 passes through 4th shaft coupling 25 and the output connection of magnetic powder cluth 26, magnetic powder cluth 26 are fixed on movement by magnetic powder cluth support 11 On platform 10, the input of magnetic powder cluth 26 is passed through by the 5th shaft coupling 27 and the output connection of spindle motor 28, spindle motor 28 Spindle motor support 12 is fixed on a mobile platform 10.
Described special fixture 21 is assembled by auxiliary clamping device 31 and clamp body 34, as shown in Fig. 2 described is auxiliary It is in male-tapered to help clamping device 31 overall, and auxiliary clamping device 31 is provided with suspension ring 30, and to lift, auxiliary clamping device 31 is set There is guide pad 32, be oriented to during loading clamp body, tested joint speed reducer is installed into inside auxiliary clamping device 31 with screw, The output panel 29 of tested joint speed reducer is fixed on tested joint speed reducer output end with screw 33;As shown in figure 3, described folder Specific 34 have an inner conical cavity 37, and input shaft spring bearing 36, quilt are provided with the bearing hole of the bottom of inner conical cavity 37 Survey joint speed reducer input shaft 35 to be arranged in input shaft spring bearing 36, the both sides of clamp body 34 are equipped with the second cylinder 38, auxiliary The male-tapered of clamping device 31 is engaged with the inner conical of clamp body 34.
The present invention operation principle be:
Tested industrial robot joint decelerator installation method:Tested joint speed reducer is loaded in auxiliary clamping device 31 Portion;The one end of end-toothed disc 20 is arranged on output panel 29, output panel 29 is fixed on into tested joint speed reducer with screw 33 exports End;Moved right mobile platform 10, and by suspension ring 30, auxiliary clamping device 31 is lifted into the clamp body 34 into special fixture, profit It is oriented to guide pad 32, the male-tapered of auxiliary clamping device 31 is engaged with the inner conical of clamp body 34, is entered with cylinder 38 Row clamps;Mobile platform 10 is moved to the left, coordinates the both ends of end-toothed disc 20 and is adjacent to, axially fixed to clamp with bolt.
Industrial robot joint decelerator comprehensive test platform method of testing:
When doing dynamic test, larger exciting current is passed to magnetic powder cluth 26, makes the locking of magnetic powder cluth 26, plays Couple the effect of two side axles, the tested joint speed reducer output end loading of appropriate exciting current control is passed to magnetic powder brake 15 Level of torque.Such as:
When transmission accuracy is tested, spindle motor 28 drives magnetic powder cluth 26 to rotate, the now locking of magnetic powder cluth 26, rises To the effect of two side axles of connection, and then it will rotate and be transmitted to magnetic powder brake 15, appropriate excitation is passed to magnetic powder brake 15 Electric current so that output end load is the 3% of tested joint speed reducer nominal torque, continuous to read the first and second angular encoders Corner value, analysis calculating can obtain transmission accuracy.
When transmission efficiency is tested, the rotating speed of spindle motor 28 is controlled, it is specified turn to make tested joint speed reducer output speed Speed, make the locking of magnetic powder cluth 26, play a part of coupling two side axles, control the loaded load of magnetic powder brake 15, read the One and second torque sensor torque value, analysis calculating can obtain transmission efficiency.
During temperature test, make the locking of magnetic powder cluth 26, play a part of coupling two side axles, control spindle motor 28 turns The torque loaded value of speed and magnetic powder brake 15, read the temperature value of temperature sensor 7, you can obtain tested industrial robot and close Save temperature change of the decelerator under different rotating speeds, load.
When twisting vibration is tested, make the locking of magnetic powder cluth 26, play a part of coupling two side axles, control spindle motor 28 Rotating speed and magnetic powder brake 15 torque loaded value, read the corner value of first angle encoder 19, analysis calculating can obtain To twisting vibration amplitude.
When doing static test, larger exciting current is passed to magnetic powder brake 15, makes the locking of magnetic powder brake 15, plays The effect of fixed output shaft end, pass to the appropriate tested joint speed reducer input of exciting current control to magnetic powder cluth 26 and add The torque of load.Such as:
Torsional rigid and return difference, need to only measure the hysteresis loop of tested joint speed reducer can evaluate, hysteresis loop test When, larger exciting current is passed to magnetic powder brake 15, makes the locking of magnetic powder brake 15, plays fixed tested joint speed reducer The effect of output shaft end.Control spindle motor 28 rotates forward, and controls the exciting current of magnetic powder cluth 26 gradually to increase from zero, Until the torque value of the first torque sensor 17 reaches the nominal torque of tested joint speed reducer, then, magnetic powder cluth is controlled 26 exciting current is gradually decrease to zero, in the process the continuously corner value of record second angle encoder 22 and the first torque The torque value of sensor 17;Control spindle motor 28 to rotate backward again, control the exciting current of magnetic powder cluth 26 gradual from zero Increase, until the torque value of the first torque sensor 17 reaches the nominal torque of tested joint speed reducer, then, control magnetic from The exciting current of clutch 26 is gradually decrease to zero, continuously records the corner value and first of second angle encoder 22 in the process The torque value of torque sensor 17.By the corner value divided by gearratio of the second angle encoder 22 measured, then with measuring The torque value of one torque sensor can draw hysteresis loop together, and analysis calculating can obtain tested industrial robot joint and subtract The torsional rigid and return difference of fast device.
It is above-mentioned it is each during, all sensors do not mentioned, which can close, not to be had to.

Claims (1)

1. a kind of industrial robot joint decelerator comprehensive test platform, including lathe bed (1), lathe bed (1) are placed in cushion block (3) On, it is characterised in that:Right side is equipped with line slideway (13) on lathe bed (1), and line slideway (13) end is connected with stroke Block (14), lathe bed (1) upper left side termination are connected by magnetic powder brake support (2) and magnetic powder brake (15), magnetic powders brake Device (15) input is logical by first shaft coupling (16) and the first torque sensor (17) output connection, the first torque sensor (17) Cross the first torque sensor support (4) to be fixed on lathe bed (1), the first torque sensor (17) input passes through second shaft coupling (18) and first angle encoder (19) output connection, first angle encoder (19) are fixed by angular encoder support (5) On lathe bed (1), first angle encoder (19) input is tested by end-toothed disc (20) and in special fixture (21) The output panel connection of joint speed reducer, special fixture (21) are fixed on the left end of mobile platform (10), and mobile platform (10) passes through Sliding block (6) is arranged on line slideway (13), and mobile platform (10) is stepped up by the first cylinder (9);Second angle encoder (22) it is arranged on the input shaft of tested joint speed reducer, second angle encoder (22) is fixed on special fixture (21), quilt Survey joint speed reducer input shaft and pass through the 3rd shaft coupling (23) and the second torque sensor (24) output connection, the second torque sensing Device (24) is fixed on mobile platform (10) by the second torque sensor support (8), and the second torque sensor (24) input is logical The 4th shaft coupling (25) and magnetic powder cluth (26) output connection are crossed, magnetic powder cluth (26) passes through magnetic powder cluth support (11) It is fixed on mobile platform (10), magnetic powder cluth (26) input is connected by the 5th shaft coupling (27) and spindle motor (28) output Connect, spindle motor (28) is fixed on mobile platform (10) by spindle motor support (12);
Described special fixture (21) is assembled by auxiliary clamping device (31) and clamp body (34), described auxiliary clamping dress It is in male-tapered that it is overall, which to put (31), and auxiliary clamping device (31) is provided with suspension ring (30), and auxiliary clamping device (31) is provided with guide pad (32), tested joint speed reducer is installed into auxiliary clamping device (31) inside, and the output panel (29) for being tested joint speed reducer is fixed In tested joint speed reducer output end;Described clamp body (34) has an inner conical cavity (37), inner conical cavity (37) bottom Input shaft spring bearing (36) is installed in the bearing hole in portion, joint speed reducer input shaft (35) is tested and is supported installed in input shaft In bearing (36), clamp body (34) both sides are equipped with the second cylinder (38), the male-tapered and clamp body of auxiliary clamping device (31) (34) inner conical is engaged.
CN201510657310.5A 2015-10-13 2015-10-13 A kind of industrial robot joint decelerator comprehensive test platform Active CN105181329B (en)

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CN105571648B (en) * 2016-02-19 2018-01-02 重庆华数机器人有限公司 A kind of multi-function robot joint Performance Test System
CN105716769A (en) * 2016-04-11 2016-06-29 四川志方科技有限公司 Starting torque testing device for RV reducer and implementation method of testing device
CN105716861B (en) * 2016-04-11 2019-03-19 四川志方科技有限公司 RV retarder torsion stiffness detection device and its implementation
CN105910819A (en) * 2016-06-27 2016-08-31 江苏兰菱机电科技有限公司 Moving sliding table
CN106053058A (en) * 2016-06-27 2016-10-26 江苏兰菱机电科技有限公司 Robot joint decelerator transmission performance testing device with mobile slide unit
CN106338393A (en) * 2016-08-25 2017-01-18 浙江双环传动机械股份有限公司 Speed reducer transmission efficiency test system
CN106441883A (en) * 2016-11-30 2017-02-22 中南大学 Comprehensive performance resting experiment table for precision speed reduction device
CN106644468A (en) * 2016-12-31 2017-05-10 大连交通大学 Precise decelerator test bench for industrial robot
CN107991092B (en) * 2017-11-27 2020-07-14 成都中良川工科技有限公司 Multi-degree-of-freedom movable speed reducer transmission test platform
CN108225424B (en) * 2018-01-02 2020-05-12 中科新松有限公司 Robot joint testing device and method
CN109506933A (en) * 2018-11-21 2019-03-22 沈阳工业大学 Transmission mechanism test platform for comprehensive performance
CN109916621B (en) * 2019-03-28 2020-11-03 中科新松有限公司 Harmonic reducer vibration testing device
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